arXiv subjects

Hangtian Wang

Publications and source records attributed to Hangtian Wang.

5 recordsLinked to original sources

arXiv2026

Multi-Resolution Voxelized Map-Based Stereo Visual-Inertial Odometry

Incorporating prior maps significantly enhances the accuracy and robustness of pose estimation in visual-inertial odometry (VIO). However, the large data volume of such maps, combined with limited transmission bandwidth, makes it impractical to continuously load local maps onto an edge device. In this paper, we propose a multi-resolution prior map construction method and a corresponding map-based VIO system. The prior map is voxelized at multiple resolutions, with each voxel retaining only a single map point. During online VIO operation, a cone-shaped indexing strategy associates 2D features on the edge device with 3D map points. The cone's intercept is determined by the distance from the current position to the 3D points, enabling the selection of the appropriate resolution level and the retrieval of the unique map point within the corresponding voxel via a 3D digital differential analyzer (DDA) algorithm. This approach minimizes both the volume of data required for transmission and the computational load during data association. Extensive experiments on two public datasets demonstrate that our system achieves accurate pose estimation while requiring minimal data transmission.

cs.RO↗

arXiv2026

High-Pressure Tuning of Electrical Transport in Freestanding Oxide Films

Electrical transport in oxide thin films under high pressure remains largely unexplored due to the lack of a universal experimental strategy. Here we develop an approach that enables high-pressure transport measurements in freestanding oxide films by enhancing their mechanical robustness and integrating them with nanoscale high-pressure devices. As a demonstration, we investigate the resistivity of perovskite SrIrO3 films under hydrostatic pressure and uncover a pressure-driven semimetal-insulator transition near 2.5 GPa, followed by an insulator-metal transition around 9 GPa. In the monolayer limit, SrIrO3 remains insulating and robust against pressure up to 5.5 GPa. The contrasting pressure-dependent phase diagrams of three- and two-dimensional iridates reveal a strong interplay between dimensionality and hydrostatic pressure in correlated oxides. Our work establishes a general platform for exploring pressure-driven phenomena in low-dimensional quantum materials.

cond-mat.mtrl-sci↗

arXiv2026

PromptStereo: Zero-Shot Stereo Matching via Structure and Motion Prompts

Modern stereo matching methods have leveraged monocular depth foundation models to achieve superior zero-shot generalization performance. However, most existing methods primarily focus on extracting robust features for cost volume construction or disparity initialization. At the same time, the iterative refinement stage, which is also crucial for zero-shot generalization, remains underexplored. Some methods treat monocular depth priors as guidance for iteration, but conventional GRU-based architectures struggle to exploit them due to the limited representation capacity. In this paper, we propose Prompt Recurrent Unit (PRU), a novel iterative refinement module based on the decoder of monocular depth foundation models. By integrating monocular structure and stereo motion cues as prompts into the decoder, PRU enriches the latent representations of monocular depth foundation models with absolute stereo-scale information while preserving their inherent monocular depth priors. Experiments demonstrate that our PromptStereo achieves state-of-the-art zero-shot generalization performance across multiple datasets, while maintaining comparable or faster inference speed. Our findings highlight prompt-guided iterative refinement as a promising direction for zero-shot stereo matching.

cs.CV↗

arXiv2023

Single-shot laser-induced switching of an exchange biased antiferromagnet

Ultrafast manipulation of magnetic order has challenged our understanding the fundamental and dynamic properties of magnetic materials. So far single shot magnetic switching has been limited to ferrimagnetic alloys and multilayers. In ferromagnetic (FM)/antiferromagnetic (AFM) bilayers, exchange bias (He) arises from the interfacial exchange coupling between the two layers and reflects the microscopic orientation of the antiferromagnet. Here we demonstrate the possibility of single shot switching of the antiferromagnet (change of the sign and amplitude of He) with a single femtosecond laser pulse in IrMn/CoGd bilayers. We demonstrate the switching for a wide range of fluences for different layer thicknesses and compositions. Atomistic simulations predict ultrafast switching and recovery of the AFM magnetization on a timescale of 2 ps. These results provide the fastest and the most energy-efficient method to set the exchange bias and pave the way to potential applications for ultrafast spintronic devices.

cond-mat.mtrl-sci↗

arXiv2020

Generation and manipulation of chiral terahertz waves emitted from the three-dimensional topological insulator Bi2Te3

Arbitrary manipulation of broadband terahertz waves with flexible polarization shaping at the source has great potential in expanding real applications such as imaging, information encryption, and all-optically coherent control of terahertz nonlinear phenomena. Topological insulators featuring unique spin-momentum locked surface state have already exhibited very promising prospects in terahertz emission, detection and modulation, which may lay a foundation for future on-chip topological insulator-based terahertz systems. However, polarization shaped terahertz emission with prescribed manners of arbitrarily manipulated temporal evolution of the amplitude and electric-field vector direction based on topological insulators have not yet been explored. Here we systematically investigated the terahertz radiation from topological insulator Bi2Te3 nanofilms driven by femtosecond laser pulses, and successfully realized the generation of efficient chiral terahertz waves with controllable chirality, ellipticity, and principle axis. The convenient engineering of the chiral terahertz waves was interpreted by photogalvanic effect induced photocurrent, while the linearly polarized terahertz waves originated from linear photogalvanic effect induced shift currents. We believe our works not only help further understanding femtosecond coherent control of ultrafast spin currents in light-matter interaction but also provide an effective way to generate spin-polarized terahertz waves and accelerate the proliferation of twisting the terahertz waves at the source.

physics.optics↗